CN109559528A - It is a kind of based on 3D laser radar from perception interactive formula traffic-control unit - Google Patents
It is a kind of based on 3D laser radar from perception interactive formula traffic-control unit Download PDFInfo
- Publication number
- CN109559528A CN109559528A CN201910046578.3A CN201910046578A CN109559528A CN 109559528 A CN109559528 A CN 109559528A CN 201910046578 A CN201910046578 A CN 201910046578A CN 109559528 A CN109559528 A CN 109559528A
- Authority
- CN
- China
- Prior art keywords
- cuboid
- dist
- traffic
- point cloud
- laser point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention belongs to technical field of traffic signal control, and in particular to it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit；The device is mainly made of 3D laser radar detection unit, traffic signals interaction coordination unit, traffic signals drive control unit；The device realizes real-time to the autonomous perception of the crossing inlet direction stream of people, wagon flow and traffic flow parameter, high-precision, multiresolution automatically extract by 3D laser radar sensor, carry out fining traffic signal optimization, coordination and control, to improve intersection efficiency, road traffic resource utilization rate is promoted.
Description
Technical field
The invention belongs to technical field of traffic signal control, and in particular to it is a kind of based on 3D laser radar from perception interactive
Formula traffic-control unit.
Background technique
With the continuous development of Chinese society economy and urbanization process, city is had a large population and a few land, vehicle multichannel is few, facility collection
In, the characteristics of land used is nervous, frequent activity determine city can be used for traffic land resource it is extremely limited, with social economy
Sustained and rapid development, the transport need in city certainly will keep expansion, the lance between urban transportation supply and transport need
Shield becomes increasingly conspicuous.From the angle for expanding transportation supplies: first is that extending urban road by newly-built, however being provided in the limited soil in city
Under source, it is unrealistic to create enlarging road, and the speed of road construction can not keep up with the growth rate of transport need forever,
It cannot fundamentally solve the problems, such as congested in traffic；Second is that urban road enhancing efficiency, improves city by intelligent transport technology means
The utilization rate of city's Transportation facilities promotes road passage capability, is the master for solving urban transport problems both at home and abroad at present
Want technological means.Wherein, urban road intersection is the bottleneck of road efficiency, to effectively improve road efficiency, only
Have through real-time, microcosmic, accurate traffic flow data, Precise control is carried out to traffic signals, can just effectively improve path link
Line efficiency.
In current traffic signal control system, mainly by coil checker, radar detector, video detector,
The sensing equipments such as GPS Floating Car carry out traffic information collection.However, although coil checker can obtain a certain section of road
Flow, speed, occupation rate information, but can only reflect the traffic flow running rate near section, it can not reflect a certain regional scope
Interior traffic behavior；Equally, for be both roadbed type detection device Doppler radar detector, video detector, although institute
The traffic information of acquisition slightly has difference, but can only reflect the traffic flow modes information in a certain section of road, and fining is handed over
For messenger control, telecommunication flow information provided by roadbed type detector is fine not enough at present, the resolution ratio and dimension of information
The requirement for not being able to satisfy fining traffic optimization control is spent, needs to carry out by the other detection devices of installation to supplement and complete
It is kind；Although GPS floating car data is able to reflect the telecommunication flow information in a certain spatial dimension, but by sample size, sampling period, net
The conditions limitation such as network transmission, the telecommunication flow information that GPS Floating Car provides have apparent hysteresis quality, precision fluctuation, are not suitable for
Applied in fining traffic signalization.
3D laser radar is as a kind of active vision sensor, and with external illumination variation, insensitive, complex environment is adapted to
Property strong, strong antijamming capability, high sensitivity, high-resolution, high-precision, wide coverage, the advantages that containing much information, be capable of providing
In real time, microcosmic, high-precision, high-resolution telecommunication flow information, the fining traffic information perception controlled for urban traffic signal,
Traffic flow dynamic recognition and tracking provides new technical solution.
Summary of the invention
The invention proposes a kind of based on 3D laser radar from perception interactive formula traffic-control unit, device master
It to be made of 3D laser radar detection unit, traffic signals interaction coordination unit, traffic signals drive control unit, such as Fig. 1 institute
Show.The device realizes the autonomous perception and traffic flow to the crossing inlet direction stream of people, wagon flow by 3D laser radar sensor
Parameter in real time, high-precision, multiresolution automatically extract, carry out fining traffic signal optimization, coordination and control, handed over improving
Prong traffic efficiency promotes road traffic resource utilization rate.
The technical solution of the invention is as follows installs proposed by the present invention one on urban intersection cantilevered Traffic signal post
Kind based on 3D laser radar from perception interactive formula traffic-control unit, as shown in Figure 2.3D laser radar in the device
Detection unit is responsible for the wagon flow to crossing inlet direction, the stream of people of crossing carries out real-time, dynamic detection, identification, tracking
And information extraction；Real-time, the high-precision, more resolutions that traffic signals interaction coordination unit is extracted according to 3D laser radar detection unit
Rate telecommunication flow information optimizes the Signal phase in import direction, phase sequence, long green light time, information exchange, signal association
It adjusts, dynamic monitoring and safe early warning is carried out to the stream of people of crossing；Traffic signals drive control unit is handed over according to traffic signals
The traffic signals scheme that mutual coordination unit is formed, to traffic signal display module, traffic signals cue module, traffic safety early warning
Module is driven, and control traffic signal light group, information display screen open the bright time, open bright duration, open bright state, display figure
Case, display information and safe early warning.
It is proposed by the present invention it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit, feature master
Include:
1) 3D laser radar detection unit
3D laser radar detection unit is made of 3D laser radar sensor, multicore laser point cloud micro treatment module, and 3D swashs
Optical radar sensor and multicore laser point cloud micro treatment module using EMIF (External Memory Interface) bus into
Row connection and data communication；3D laser radar sensor is used to scan, the wagon flow that detect crossing inlet direction, people's row cross
The stream of people in road forms laser point cloud data frame, and sends laser point cloud data frame to multicore laser point cloud by EMIF bus
Micro treatment module；Multicore laser point cloud micro treatment module is responsible for the laser point cloud data sent to 3D laser radar sensor
Frame carries out data filtering and information extraction, and wagon flow, the traffic flow parameter information of the stream of people are extracted from laser point cloud data frame.
2) traffic signals interaction coordination unit
Traffic signals interaction coordination unit is by communication module, FPGA main control module, DSP safety monitoring module, PCB backboard group
At, communication module, FPGA main control module, DSP signals-modulating module is attached using EMIF bus and data communication, and
Fixation is laid out on PCB backboard；Meanwhile traffic signals interaction coordination unit is detected by EMIF bus and 3D laser radar
Unit and traffic signals drive control unit is attached and data communication；
Communication module in traffic signals interaction coordination unit is responsible for and is mounted on other cantilevered lamps in same intersection
It carries out information exchange from perception interactive formula traffic-control unit on bar and shares；FPGA main control module is according to laser radar
The traffic flow parameter information that detection unit provides carries out Signal phase to corresponding import direction, long green light time carries out
Optimization, and by being carried out in communication module and other cantilevered lamp stands of intersection from perception interactive formula traffic-control unit
Phase, phase sequence, long green light time are coordinated；DSP safety monitoring module is to the wagon flow in crossing inlet direction, the safe shape of the stream of people
State carries out dynamic monitoring and safe early warning, carries out automatic intervene and quickly adjustment to the traffic signals under emergent traffic incident.
3) traffic signals drive control unit
Traffic signals drive control unit is by traffic signal display module, traffic signals cue module, traffic safety early warning
The micro- aobvious screen of module, signal lamp group, LED, 6U VPX switching signal interface board composition, traffic signal display module, traffic signals mention
Show that the micro- aobvious screen of module, traffic safety warning module, signal lamp group, LED is carried out by serial ports and 6U VPX switching signal interface board
Connection and data communication；Traffic signal display module is responsible for the traffic letter for sending traffic signals interaction coordination unit
Number control program, driving and control signal lamp group open the bright time, open bright state, open bright pattern；Traffic signals cue module root
According to the traffic signal control scheme that traffic signals interaction coordination unit is sent, the information alert content of the micro- aobvious screen of LED is controlled,
Information alert and dynamic guiding are carried out to the prevailing state of the stream of people, wagon flow, transit time；Traffic safety warning module is according to traffic
The traffic safety alarm command that signal interaction coordination unit is sent, pacifies the stream of people in crossing inlet direction, wagon flow
Full early warning.
Detailed description of the invention
Fig. 1: it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit functional structure chart；
Fig. 2: a kind of that artwork is installed from perception interactive formula traffic-control unit based on 3D laser radar；
Fig. 3: the vehicle detection space schematic diagram that multicore laser point cloud micro treatment module marks；
Fig. 4: the pedestrian detection space schematic diagram that multicore laser point cloud micro treatment module marks.
Specific embodiment
It is of the present invention it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit, device master
It to be made of 3D laser radar detection unit, traffic signals interaction coordination unit, traffic signals drive control unit, such as Fig. 1, figure
Shown in 2；The device realizes the autonomous perception and traffic to crossing inlet direction wagon flow, the stream of people by 3D laser radar sensor
Stream parameter in real time, high-precision, multiresolution automatically extract, fining traffic signal optimization, coordination and control are carried out, to improve
Intersection efficiency promotes road traffic resource utilization rate.
It is proposed by the present invention it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit, work
Detailed process are as follows:
1) 3D laser radar detection unit
3D laser radar detection unit is made of laser radar sensor, multicore laser point cloud micro treatment module, 3D laser
Radar sensor and multicore laser point cloud micro treatment module are carried out using EMIF (External Memory Interface) bus
Connection and data communication；Laser radar sensor is used to scan, the wagon flow that detects crossing inlet direction, crossing
The stream of people forms laser point cloud data frame, and sends laser point cloud data frame to multicore laser point cloud micro- place by EMIF bus
Manage module；Multicore laser point cloud micro treatment module be responsible for the laser point cloud data frame that 3D laser radar sensor is sent into
Wagon flow, the traffic flow parameter information of the stream of people are extracted in row data filtering and information extraction from laser point cloud data frame.Specific works
Steps are as follows:
Step1:3D laser radar sensor reflects mirror surface with certain frequency transmitting laser beam and rotary laser, and passes through
Return laser beam is received to realize the 3D scanning to detection direction road traffic environment, and forms 3D in the form of laser point cloud
Laser point cloud image, when the every completion of 3D laser radar sensor once scans the 3D of road traffic environment in detection spatial dimension
After form a width 3D laser point cloud data frame, include three-dimensional coordinate information (X, Y, Z coordinate), the laser of laser point cloud in data frame
Intensity, laser ID, laser level direction of rotation angle, laser vertical direction angle, laser distance, timestamp；
Step2: 3D laser radar sensor scanning space is marked two sub-spaces by multicore laser point cloud micro treatment module,
One be import direction vehicle detection SPACE V EH_ Ω, one be detection direction crossing pedestrian detection space PED_ Ω,
As shown in Figure 3, Figure 4；Wherein: VEH_ Ω is VL × VW × H cuboid, and PED_ Ω is PL × PW × H cuboid, VL 3D
The distance between import direction highest distance position and import direction stop line of laser radar sensor detection direction；VW is 3D laser
The entrance driveway width of radar sensor detection direction；H is the height of 3D laser radar sensor from the ground；PL is 3D laser radar
The length of sensor detection direction crossing；PW is the width of 3D laser radar sensor detection direction crossing；
Step3: multicore laser point cloud micro treatment module extracted from laser point cloud data frame respectively in VEH_ Ω and
Laser point cloud in PED_ Ω spatial dimension constructs MV × NV × KV three-dimensional space matrix V (VEH_ Ω), v respectivelyijk
∈ V (VEH_ Ω) and MP × NP × KP three-dimensional space matrix P (PED_ Ω), pijk∈P(PED_Ω)；
In VEH_ Ω: vijkFor the i-th row of X-coordinate axle in VEH_ Ω, Y-coordinate axle jth column, Z coordinate axis kth layer laser point
Laser intensity；I=1,2 ..., MV；J=1,2 ..., NV；K=1,2 ..., KV；MV is X-coordinate axle laser point cloud in VEH_ Ω
Total line number；NV is total columns of Y-coordinate axle laser point cloud in VEH_ Ω；KV is the total of Z coordinate axis laser point cloud in VEH_ Ω
The number of plies；
In PED_ Ω: pijkFor the i-th row of X-coordinate axle in PED_ Ω, Y-coordinate axle jth column, Z coordinate axis kth layer laser point
Laser intensity；I=1,2 ..., MP；J=1,2 ..., NP；K=1,2 ..., KP；MP is X-coordinate axle laser point cloud in PED_ Ω
Total line number；NV is total columns of Y-coordinate axle laser point cloud in PED_ Ω；KP is the total of Z coordinate axis laser point cloud in PED_ Ω
The number of plies；
The crossing inlet direction that 3D laser radar sensor scans in VEH_ Ω and PED_ Ω is Y-coordinate axis direction；
The crossing inlet direction crossing direction of 3D laser radar sensor scanning is X-coordinate axis direction；Intersection ground is vertical
Direction is Z coordinate axis direction；
Step4: filtering background is carried out to the laser point cloud in VEH_ Ω spatial dimension:
Step4.1: defining A to be one may include UV × VV × WV laser point cuboid, A ∈ VEH_ Ω,
The cuboid A on upper layer, lower layer's the i-th row jth column in respectively cuboid VEH_ Ω；Respectively cuboid VEH_ Ω
In left wall, right wall jth column kth layer cuboid A；I=1,2 ..., MV '；J=1,2 ..., NV '；K=1,2 ..., KV '；Enabling δ (A) is the laser point cloud density of cuboid A, calculates the laser of cuboid A
Point cloud density fluctuation rate:
Wherein:Respectively using A as in the cuboid VEH_ Ω in section
Layer, lower layer, left wall, the laser point cloud averag density of right wall；Respectively cuboid VEH_ Ω at the middle and upper levels,
The laser point cloud density fluctuation rate of the cuboid A of lower layer's the i-th row jth column；In respectively cuboid VEH_ Ω
Left wall, right wall jth column kth layer cuboid A laser point cloud density fluctuation rate；
Step4.2: judge cuboid VEH_ Ω at the middle and upper levels, lower layer, left wall, the cuboid A in right wall whether be that background swashs
Luminous point cloud atlas picture, and background is filtered:
IfThen judge that the cuboid VEH_ Ω cuboid A that the i-th row jth arranges at the middle and upper levels is included
Laser point cloud is background laser point cloud；
IfThen judge that the cuboid A of lower layer's the i-th row jth column in cuboid VEH_ Ω is included
Laser point cloud is background laser point cloud；
IfThe then laser that the cuboid A of left wall jth column kth layer is included in cuboid VEH_ Ω
Point cloud is background laser point cloud；
IfThe then laser that the cuboid A of right wall jth column kth layer is included in cuboid VEH_ Ω
Point cloud is background laser point cloud；
Wherein: τUP(T)、τDW(T)、τLF(T)、τRT(T) be respectively T judge in the period cuboid VEH_ Ω at the middle and upper levels, under
Layer, left wall, the cuboid A background laser point cloud density fluctuation threshold limit value in right wall；
Step4.3: repeating Step4.1 to Step4.2, owns in the upper layer cuboid VEH_ Ω, lower layer, left wall, right wall
Cuboid A carry out background judgement, and reject all background laser point clouds, form new three-dimensional space matrix V ' (VEH_
Ω), v 'ijk∈V′(VEH_Ω)；
Step5: filtering background is carried out to the laser point cloud in PED_ Ω spatial dimension:
Step5.1: defining B to be one may include UP × VP × WP laser point cuboid, B ∈ PED_ Ω,
The cuboid B on upper layer, lower layer's the i-th row jth column in respectively cuboid PED_ Ω；Respectively cuboid PED_ Ω
In left wall, right wall jth column kth layer cuboid B；I=1,2 ..., MP '；J=1,2 ..., NP '；K=1,2 ..., KP '；Enabling δ (B) is the laser point cloud density of cuboid B, calculates the laser point of cuboid B
Cloud density fluctuation rate:
Wherein:Respectively using B as in the cuboid PED_ Ω in section
Layer, lower layer, left wall, the laser point cloud averag density of right wall；Respectively cuboid PED_ Ω at the middle and upper levels,
The laser point cloud density fluctuation rate of the cuboid B of lower layer's the i-th row jth column；In respectively cuboid PED_ Ω
Left wall, right wall jth column kth layer cuboid B laser point cloud density fluctuation rate；
Step5.2: judge cuboid PED_ Ω at the middle and upper levels, lower layer, left wall, the cuboid B in right wall whether be Background
Picture, and background is filtered:
IfThen judge that the cuboid PED_ Ω cuboid B that the i-th row jth arranges at the middle and upper levels is included
Laser point cloud is background laser point cloud；
IfThen judge that the cuboid B of lower layer's the i-th row jth column in cuboid PED_ Ω is included
Laser point cloud is background laser point cloud；
IfThe then laser that the cuboid B of left wall jth column kth layer is included in cuboid PED_ Ω
Point cloud is background laser point cloud；
IfThe then laser that the cuboid B of right wall jth column kth layer is included in cuboid PED_ Ω
Point cloud is background laser point cloud；
Wherein: λUP(T)、λDW(T)、λLF(T)、λRT(T) be respectively T judge in the period cuboid PED_ Ω at the middle and upper levels, under
Layer, left wall, the cuboid B background laser point cloud density fluctuation threshold limit value in right wall；
Step5.3: repeating Step5.1 to Step5.2, owns in the upper layer cuboid PED_ Ω, lower layer, left wall, right wall
Cuboid B carry out background judgement, and reject all background laser point clouds, form new three-dimensional space matrix P ' (PEH_
Ω), p 'ijk∈P′(PED_Ω)；
Step6: the X of VEH_ Ω, Y-axis plane are divided into NC × NL grid, are a WL × LV × H in each grid
Cuboid E；Wherein: WL is the lane width in 3D laser radar sensor detection direction import direction；LV is being averaged for vehicle
Length；H is the height of 3D laser radar sensor from the ground；E ∈ VEH_ Ω, EijIt is the rectangular of the i-th row jth lane for VEH_ Ω
Body；Wherein: i=1,2 ..., NC；J=1,2 ..., NL；
Step6.1: the laser point cloud density δ (E) of the E of cuboid in VEH_ Ω is calculated
Wherein:For the sum of laser point cloud density all in E；For the volume of cuboid E；
Step6.2: judge vehicle in cuboid E there are situations:
(1) if δ (E) >=∈V, then judge in cuboid E with the presence of vehicle；
(2) if ∈bV≤ δ (E) < ∈V, cuboid E is split into the equal front and back two parts of volumeWithIfAndThen vehicle is present in the front of cuboid E, willWithMerge, label
For new cuboid E '；IfAndThen vehicle is present in the rear portion of cuboid E, willWithMerge, labeled as new cuboid E '；
Wherein:For the latter half of cuboid E adjacent previous cuboid E；For cuboid E it is adjacent after
The first half of one cuboid E；∈VFor critical density existing for cuboid E vehicle；∈bVFace for what cuboid E vehicle occupied
Boundary's density；
Step6.3: the minimum adjoint point number of given vehicle is Min_VehPts, radius of neighbourhood R_Veh；Traverse cuboid E
Or all laser point Li_Pt in E ', find out the laser points NumPt (Li_ in each laser point Li_Pt radius of neighbourhood R_Veh
Pt)；If NumPt (Li_Pt) >=Min_VehPts, by laser point Li_Pt labeled as the vehicle centroid in cuboid E or E '
VehCore_Pt；
Step6.4: repeating Step6.1 to Step6.3, according to the location information and quantity of vehicle centroid point, obtains current
The vehicle number VehNum and queue length VehQue of each entrance driveway in laser point cloud data frame VEH_ Ω；
Step7: the X of PED_ Ω, Y-axis plane are divided into NP × NT grid, are a WP × PT × H in each grid
Cuboid S；Wherein: WP is average longitudinal space distance needed for pedestrian's walking；PT is pedestrian's walking horizontal space distance；H
Height for laser radar sensor from the inside；S ∈ PED_ Ω, SijIt is the rectangular of the i-th row jth column in crossing for PED_ Ω
Body S；Wherein: i=1,2 ..., NP；J=1,2 ..., NT；
Step7.1: the laser point cloud density δ (S) of the S of cuboid in PED_ Ω is calculated
Wherein:For the sum of laser point cloud density all in S；For the volume of cuboid S；
Step7.2: judge pedestrian in cuboid S there are situations:
(1) if δ (S) >=∈p, then judge in cuboid S with the presence of pedestrian；
(2) if ∈bp≤ δ (S) < ∈p, cuboid S is split into the equal front and back two parts of volumeWithOr
Left and right two partsWithIfAndThen pedestrian is present in the front of cuboid S,
It willWithMerge, labeled as new cuboid S '；IfAndThen vehicle exists
It, will in the rear portion of cuboid SWithMerge, labeled as new cuboid S '；IfAndThen pedestrian is present in the right side of cuboid S, willWithMerge, labeled as new cuboid S '；
IfAndThen pedestrian is present in the left side of cuboid S, willWithMerge, label
For new cuboid S '
Wherein:For the latter half of cuboid S adjacent previous cuboid S；For cuboid S it is adjacent after
The first half of one cuboid S；∈pFor critical density existing for cuboid S pedestrian；∈bpFace for what cuboid pedestrian occupied
Boundary's density；
Step7.3: the minimum adjoint point number of given pedestrian is Min_PedPts, radius of neighbourhood R_Ped；Traverse cuboid S
Or all laser point Li_Pt in S ', find out the laser points NumPt (Li_ in each laser point Li_Pt radius of neighbourhood R_Ped
Pt)；If NumPt (Li_Pt) >=Min_PedPts, by laser point Li_Pt labeled as pedestrian's mass center in cuboid S or S '
PedCore_Pt；
Step7.4: repeating Step7.1 to Step7.3, according to the location information and quantity of pedestrian's center of mass point, obtains current
Crosswalk and the pedestrian's number VPedNum and pedestrian position of pedestrian's street crossing waiting area in laser point cloud data frame PED_ Ω
Information PedLoInfo；
Step8: Step2 is carried out to Step7's to the Data duplication for each frame that 3D laser radar sensor is sent
Processing, the position of vehicle and pedestrian in each frame is tracked, obtain vehicle and pedestrian running track VedTrace and
PedTrace, by the change in location of vehicle and pedestrian, obtain vehicle and pedestrian speed of service information VehSpeedInfo and
PedSpeedInfo；
Step9: multicore laser point cloud micro treatment module will test vehicle in region, the quantity of pedestrian, position, speed,
Running track information sends traffic signals interaction coordination unit to by EMIF bus.
2) traffic signals interaction coordination unit
Traffic signals interaction coordination unit is by communication module, FPGA main control module, DSP safety monitoring module, PCB backboard group
At communication module, FPGA main control module, DSP signals-modulating module carry out data communication using EMIF bus, and in PCB
Fixation is laid out on backboard；Communication module is responsible for and is mounted on self-induction bosom friend on other cantilevered lamp stands in same intersection
Mutual formula traffic-control unit carries out information exchange and shares；FPGA main control module is provided according to laser radar detection unit
Traffic flow parameter information carries out Signal phase to corresponding import direction, long green light time optimizes, and passes through communication
Phase, phase sequence, green light are carried out from perception interactive formula traffic-control unit in module and other cantilevered lamp stands of intersection
Duration is coordinated；DSP safety monitoring module carries out dynamic monitoring and peace to the traffic flow of crossing, the safe condition of the stream of people
Full early warning carries out automatic intervene and quickly adjustment to the traffic signals under emergent traffic incident；Specific work steps is as follows:
Cycle T _ GAP hands over the queuing of each entrance driveway of detection direction to Step1:FPGA main control module at a certain time interval
Through-current capacity is predicted:
Wherein: Vol (t+T_GAP), Vol (t), Vol (t-T_GAP) are respectively next predetermined period interval of t moment
T_GAP, the current predictive period, upper predetermined period interval T_GAP crossing inlet road flow；Vel(t),Vel(t-
T_GAP) be respectively current predictive period of t moment, upper predetermined period interval T_GAP crossing inlet road vehicle it is flat
Equal speed；α, β are respectively corrected parameter；
Step2:FPGA main control module estimates that each import lane queuing vehicle dissipates the required time:
Wherein: disT is lane queuing vehicle resolution time；μ is queuing vehicle start-up lost time；γ is the queue clearance time
Correction factor；It averagely dissipates speed for queuing vehicle；
Queuing vehicle resolution time needed for Step3:FPGA main control module determines each current direction in import lane:
DisT_ST=max (disT_ST1, disT_ST2..., disT_STn)
DisT_LT=max (disT_LT1, disT_LT2..., disT_LTm)
Wherein: disT_ST, disT_LT are respectively the current direction of import lane straight trip, queuing needed for current direction of turning left
Vehicle resolution time；disT_ST1, disT_ST2..., disT_STn1st, 2 ..., n Through Lane respectively in import lane
Required queuing vehicle resolution time；disT_LT1, disT_LT2..., disT_LTm1st, 2 ..., m respectively in import lane
Queuing vehicle resolution time needed for left turn lane；
Step4:FPGA main control module calculates the current direction queuing vehicle resolution time disT_ST of import lane straight trip and a left side
Turn the time difference between current direction queuing vehicle resolution time disT_LT:
Δ disT=| disT_ST-disT_LT |
(1) believe if Δ disT≤ξ, FPGA main control module passes through the straight trip right of way signal phase in import lane and left-hand rotation
Number phase merges into the same signal phase stage, and the green time of phase is max (disT_ST, disT_LT)；
(2) if Δ disT > ξ, FPGA main control module obtains the opposite current direction of import lane straight trip by communication module
With queuing vehicle the resolution time disT_ST ' and disT_LT ' in current direction of turning left；
1. if | disT_ST-disT_ST ' |≤ξ, FPGA main control module pass through communication module and opposite FPGA master control
Module coordination merges into the straight trip right of way signal phase of the straight trip right of way signal phase in import lane and opposite import lane together
One signal phase stage, the green time of phase are max (disT_ST, disT_ST ')；
2. if | disT_LT-disT_LT ' |≤ξ, FPGA main control module pass through communication module and opposite FPGA master control
Module coordination merges into the left-hand rotation right of way signal phase of the left-hand rotation right of way signal phase in import lane and opposite import lane together
One signal phase stage, the green time of phase are max (disT_LT, disT_LT ')；
3. if | disT_ST-disT_ST ' |≤ξ and | disT_LT-disT_LT ' | > ξ, FPGA main control module passes through logical
Believe that module and opposite FPGA main control module are coordinated:
The straight trip right of way signal phase of the straight trip right of way signal phase in import lane and opposite import lane is merged into together
One signal phase stage, the green time of phase are max (disT_ST, disT_ST ')；
If disT_LT > disT_LT ', and maxVOL_ST (t+T_GAP) > maxVOL_LT ' (t+T_GAP), then will
The left-hand rotation right of way signal phase in import lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are min (disT_LT, disT_LT ')；And increase a superposition phase in import lane
Stage allows the current direction of the straight trip in import direction and current direction of turning left is let pass simultaneously, the green time in superposition phase stage
For | disT_LT-disT_LT ' |；
If disT_LT > disT_LT ', and maxVOL_ST (t+T_GAP) < maxVOL_LT ' (t+T_GAP), then will
The left-hand rotation right of way signal phase in import lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are disT_LT；
If disT_LT < disT_LT ', and maxVOL_LT (t+T_GAP) > maxVOL_ST ' (t+T_GAP), then will
The left-hand rotation right of way signal phase in import lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are disT_LT '；
If disT_LT < disT_LT ', and maxVOL_LT (t+T_GAP) < maxVOL_ST ' (t+T_GAP), then will
The left-hand rotation right of way signal phase in import lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are min (disT_LT, disT_LT ')；And increase a superposition in opposite import lane
Phase, the current direction of the straight trip for allowing opposite import to let pass and current direction of turning left are let pass simultaneously, the superposition phase stage
Green time is | disT_LT-disT_LT ' |；
4. if | disT_ST-disT_ST ' | > ξ and | disT_LT-disT_LT ' |≤ξ, FPGA main control module pass through logical
Believe that module and opposite FPGA main control module are coordinated:
The left-hand rotation right of way signal phase of the left-hand rotation right of way signal phase in import lane and opposite import lane is merged into together
One signal phase stage, the green time of phase are max (disT_LT, disT_LT ')；
If disT_ST > disT_ST ', and maxVOL_LT (t+T_GAP) > maxVOL_ST ' (t+T_GAP), then will
The straight trip right of way signal phase in import lane and the straight trip right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are min (disT_ST, disT_ST ')；And increase a superposition phase in import lane
Stage allows the current direction of the straight trip in import direction and current direction of turning left is let pass simultaneously, the green time in superposition phase stage
For | disT_ST-disT_ST ' |；
If disT_ST > disT_ST ', and maxVOL_LT (t+T_GAP) < maxVOL_ST ' (t+T_GAP), then will
The straight trip right of way signal phase in import lane and the straight trip right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are disT_ST；
If disT_ST < disT_ST ', and maxVOL_ST (t+T_GAP) > maxVOL_LT ' (t+T_GAP), then will
The left-hand rotation right of way signal phase in import lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are disT_LT '；
If disT_ST < disT_ST ', and maxVOL_ST (t+T_GAP) < maxVOL_LT ' (t+T_GAP), then will
The straight trip right of way signal phase in import lane and the straight trip right of way signal phase in opposite import lane merge into the same signal phase
Position stage, the green time of phase are min (disT_ST, disT_ST ')；And increase a superposition in opposite import lane
Phase, allows the current direction of the straight trip in import direction and current direction of turning left is let pass simultaneously, the green light in superposition phase stage
Time is | disT_ST-disT_ST ' |；
Wherein: ξ phase splits threshold limit value；MaxVOL_ST (t+T_GAP), maxVOL_ST ' (t+T_GAP) are respectively
It keeps straight on for the current direction of the next predicting interval T_GAP import lane straight trip of t moment and opposite import lane and passes through direction most
Big Through Lane flow；MaxVOL_LT (t+T_GAP), maxVOL_LT ' (t+T_GAP) are respectively between the next prediction of t moment
Turn left current direction every T_GAP import lane and opposite import lane is turned left the maximum left turn lane flow in current direction；
Step5:FPGA main control module is by communication module and intersection others FPGA main control module according to each FPGA master
The long green light time of each current phase in each import direction that control module is calculated, calculates public according to Robert Webster intersection delay
Formula, using the smallest principle of intersection delay, that coordinates determining each signal phase executes sequence, i.e. phase phase sequence；
The operating condition of Step6:DSP safety monitoring module real-time monitoring vehicle and pedestrian:
Step6.1: during signals of vehicles green light closes to an end, DSP safety monitoring module real-time monitoring import direction is
The vehicle of intersection will be driven into, whether calculate current vehicle being capable of secure parking or safety intersection:
Wherein: X0It is capable of the minimum safe stopping distance of ramp to stop for vehicle；XCIt can speed up current maximum for vehicle
Safe distance；V0The running velocity of intersection will be driven into；σ is the average braking reflecting time of driver；α-It is flat for vehicle
Equal braking deceleration；α+It is averaged braking acceleration for vehicle；GreenT is remaining transit time；W is intersection width；L is
Average traffic length；
Step6.2: if X0> XC, then vehicle can neither safe passing, can not secure parking, then DSP safety monitoring module
With FPGA main control module coordinate, extend vehicle traffic direction green time, can safety, to traffic signals drive
Control module sends DilemmaType1 director data packet；
Step6.3: if X0< XC, then DSP safety monitoring module and traffic signals drive control unit are coordinated, and transport to vehicle
Line direction carries out signal lamp flashing, prompts driver's ramp to stop or accelerates to pass through, sends to traffic signals drive control module
DilemmaType2 director data packet；
The running track of Step6.4:DSP safety monitoring module real-time monitoring crossing pedestrian and import direction vehicle,
Once the running track of the running track and vehicle that detect people's row has the appearance of the case where conflict, then DSP safety monitoring module to
Traffic signals drive control unit sends " dangerous, it is noted that safety！" safety alarm DangerInfo director data packet；
Step6.5: during signals of vehicles green light closes to an end, DSP safety monitoring module real-time monitoring crossing is
It is no to have pedestrian, once road edge crossing border detection to there is pedestrian's appearance, DSP safety monitoring module is believed to traffic
The transmission of number drive control unit " bears with, please retract Accreditation Waiting Area！" safe early warning PedWarningType1 director data packet；
Step6.6: during signals of vehicles red light, pedestrian signal green light, DSP safety detection module real-time monitoring pedestrian is
It is no walking on crossing, once detect pedestrian walking track not on crossing, DSP safety monitoring module to
" civilized traffic please walk zebra stripes to the transmission of traffic signals drive control unit！" safe early warning PedWarningType2 instruct number
According to packet；
Step7:FPGA main control module, DSP safety detection module pass through EMIF bus for traffic signal control scheme, including
The green time of each signal phase, signal phase execute sequence and traffic safety alarm command sends traffic signals drive to
Dynamic control unit；
3) traffic signals drive control unit
Traffic signals drive control unit is by traffic signal display module, traffic signals cue module, traffic safety early warning
The micro- aobvious screen of module, signal lamp group, LED, 6U VPX switching signal interface board composition, traffic signal display module, traffic signals mention
Show that the micro- aobvious screen of module, traffic safety warning module, signal lamp group, LED is carried out by serial ports and 6U VPX switching signal interface board
Connection and data communication；Traffic signal display module is responsible for the traffic signals control for sending traffic signals coordination unit
Scheme processed, driving and control signal lamp group open the bright time, open bright state, open bright pattern；Traffic signals cue module is according to friendship
The traffic signal control scheme that messenger interaction coordination unit is sent, controls the information alert content of the micro- aobvious screen of LED, to people
Stream, the prevailing state of wagon flow, transit time carry out information alert and dynamic guiding；Traffic safety warning module is according to traffic signals
The traffic safety alarm command that interaction coordination unit is sent carries out safe early warning to the stream of people of intersection, wagon flow.
Step1: traffic signal display module receives the traffic signalization that traffic signals interaction coordination unit is sent
Scheme, by the conversion of the digital information of traffic signal control scheme from analog signal, driving and control signal lamp group open the bright time,
The figure that color, the sequence of Qi Liang, the transition sequence of different light colors and the interim form and light color of Qi Liang is shown；
Step2: traffic signals cue module receives the traffic signalization that traffic signals interaction coordination unit is sent
Scheme, driving and the control micro- aobvious screen of LED, carry out the prevailing state of the stream of people, wagon flow, transit time, remaining time, direction of travel
Prompt and guidance；
Step3: traffic safety warning module receives the traffic safety early warning that traffic signals interaction coordination unit is sent
Instruction carries out safe early warning according to different signal instructions:
Step3.1: when traffic safety warning module receives DilemmaType1 director data packet, adapter tube traffic signals
Control of the display module to signal lamp group extends the long green light time in specified current direction according to DilemmaType1 command content,
At the end of extending the time, the control to signal lamp group is discharged, the control of signal lamp group is given back into traffic signal display mould
Block；
Step3.2: when traffic safety warning module receives DilemmaType2 director data packet, adapter tube traffic signals
Control of the display module to signal lamp group carries out the signal lamp in specified current direction according to DilemmaType2 command content
Flashing control discharges the control to signal lamp group after flashing control, and the control of signal lamp group is given back traffic letter
Number display module；
Step3.3: when traffic safety warning module receives DangerInfo director data packet, adapter tube traffic signals are aobvious
Show control of the module to signal lamp group, according to DangerInfo command content, blinking red lamp early warning started to specified current direction,
And it is " dangerous, it is noted that safety by the micro- aobvious screen alarm of voice and LED！"；
Step3.4: when traffic safety warning module receives PedWarningType1 director data packet, pass through voice
With LED it is micro- it is aobvious shield to pedestrian alarm " bear with, Accreditation Waiting Area please be retract！"；
Step3.5: when traffic safety warning module receives PedWarningType2 director data packet, pass through voice
With LED it is micro- it is aobvious shield to pedestrian alarm " civilized traffic please walk zebra stripes！".
Claims (3)
1. it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit, it is characterised in that:
3D laser radar detection unit is made of laser radar sensor, multicore laser point cloud micro treatment module, 3D laser radar
Sensor is attached with multicore laser point cloud micro treatment module using EMIF bus and data communication；Laser radar sensing
The stream of people of wagon flow, crossing that device is used to scan, detect crossing inlet direction, forms laser point cloud data frame, and will swash
Luminous point cloud data frame sends multicore laser point cloud micro treatment module to by EMIF bus；Multicore laser point cloud micro treatment module is negative
It blames and data filtering and information extraction is carried out to the laser point cloud data frame that 3D laser radar sensor is sent, from laser point cloud
Wagon flow, the traffic flow parameter information of the stream of people are extracted in data frame；Specific work steps is as follows:
Step1:3D laser radar sensor reflects mirror surface with certain frequency transmitting laser beam and rotary laser, and passes through reception
Return laser beam is realized to the 3D of detection direction road traffic environment scanning, and 3D laser is formed in the form of laser point cloud
Point cloud image, shape after the every completion of 3D laser radar sensor once scans the 3D of road traffic environment in detection spatial dimension
Include the three-dimensional coordinate information of laser point cloud at a width 3D laser point cloud data frame, in data frame, laser intensity, laser ID, swash
Light level direction of rotation angle, laser vertical direction angle, laser distance, timestamp；
Step2: 3D laser radar sensor scanning space is marked two sub-spaces by multicore laser point cloud micro treatment module, and one
For import direction vehicle detection SPACE V EH_ Ω, a pedestrian detection space PED_ Ω for detection direction crossing；Wherein:
VEH_ Ω is VL × VW × H cuboid, and PED_ Ω is PL × PW × H cuboid, and VL is the detection of 3D laser radar sensor
The distance between the import direction highest distance position and import direction stop line in direction；VW is 3D laser radar sensor detection direction
Entrance driveway width；H is the height of 3D laser radar sensor from the ground；PL is 3D laser radar sensor detection direction people's row
The length of lateral road；PW is the width of 3D laser radar sensor detection direction crossing；
Step3: multicore laser point cloud micro treatment module extracts from laser point cloud data frame be in VEH_ Ω and PED_ Ω respectively
Laser point cloud in spatial dimension constructs MV × NV × KV three-dimensional space matrix V (VEH_ Ω), vi respectivelyjk∈V
(VEH_ Ω) and MP × NP × KP three-dimensional space matrix P (PED_ Ω), pijk∈P(PED_Ω)；
In VEH_ Ω: vijkFor the i-th row of X-coordinate axle in VEH_ Ω, Y-coordinate axle jth column, Z coordinate axis kth layer laser point swashs
Luminous intensity；I=1,2 ..., MV；J=1,2 ..., NV；K=1,2 ..., KV；MV is the total of X-coordinate axle laser point cloud in VEH_ Ω
Line number；NV is total columns of Y-coordinate axle laser point cloud in VEH_ Ω；KV is total number of plies of Z coordinate axis laser point cloud in VEH_ Ω；
In PED_ Ω: pijkFor the i-th row of X-coordinate axle in PED_ Ω, Y-coordinate axle jth column, Z coordinate axis kth layer laser point swashs
Luminous intensity；I=1,2 ..., MP；J=1,2 ..., NP；K=1,2 ..., KP；MP is the total of X-coordinate axle laser point cloud in PED_ Ω
Line number；NV is total columns of Y-coordinate axle laser point cloud in PED_ Ω；KP is total number of plies of Z coordinate axis laser point cloud in PED_ Ω；
The crossing inlet direction that 3D laser radar sensor scans in VEH_ Ω and PED_ Ω is Y-coordinate axis direction；3D swashs
The crossing inlet direction crossing direction of optical radar sensor scanning is X-coordinate axis direction；Intersection ground vertical direction
For Z coordinate axis direction；
Step4: filtering background is carried out to the laser point cloud in VEH_ Ω spatial dimension:
Step4.1: defining A to be one may include UV × VV × WV laser point cuboid, A ∈ VEH_ Ω,Respectively
For the cuboid A on upper layer, lower layer's the i-th row jth column in cuboid VEH_ Ω；In respectively cuboid VEH_ Ω
The cuboid A of left wall, right wall jth column kth layer；I=1,2 ..., MV '；J=1,2 ..., NV '；K=1,2 ..., KV '；Enabling δ (A) is the laser point cloud density of cuboid A, calculates the laser of cuboid A
Point cloud density fluctuation rate:
Wherein:Respectively using A as the cuboid VEH_ Ω in section at the middle and upper levels, under
Layer, left wall, the laser point cloud averag density of right wall；Respectively cuboid VEH_ Ω at the middle and upper levels, lower layer
The laser point cloud density fluctuation rate of the cuboid A of i row jth column；Left wall in respectively cuboid VEH_ Ω,
The laser point cloud density fluctuation rate of the cuboid A of right wall jth column kth layer；
Step4.2: judge cuboid VEH_ Ω at the middle and upper levels, lower layer, left wall, the cuboid A in right wall whether be background laser point
Cloud atlas picture, and background is filtered:
IfThen judge the laser that the cuboid VEH_ Ω cuboid A that the i-th row jth arranges at the middle and upper levels is included
Point cloud is background laser point cloud；
IfThen judge the laser that the cuboid A that lower layer's the i-th row jth arranges in cuboid VEH_ Ω is included
Point cloud is background laser point cloud；
IfThe laser point cloud that then the cuboid A of left wall jth column kth layer is included in cuboid VEH_ Ω is
Background laser point cloud；
IfThe then laser point cloud that the cuboid A of right wall jth column kth layer is included in cuboid VEH_ Ω
For background laser point cloud；
Wherein: τUP(T)、τDW(T)、τLF(T)、τRT(T) be respectively T judge in the period cuboid VEH_ Ω at the middle and upper levels, lower layer,
Cuboid A background laser point cloud density fluctuation threshold limit value in left wall, right wall；
Step4.3: repeating Step4.1 to Step4.2, to length all in the upper layer cuboid VEH_ Ω, lower layer, left wall, right wall
Cube A carries out background judgement, and rejects all background laser point clouds, forms new three-dimensional space matrix V ' (VEH_ Ω),
v′ijk∈V′(VEH_Ω)；
Step5: filtering background is carried out to the laser point cloud in PED_ Ω spatial dimension:
Step5.1: defining B to be one may include UP × VP × WP laser point cuboid, B ∈ PED_ Ω,Respectively
For the cuboid B on upper layer, lower layer's the i-th row jth column in cuboid PED_ Ω；In respectively cuboid PED_ Ω
The cuboid B of left wall, right wall jth column kth layer；I=1,2 ..., MP '；J=1,2 ..., NP '；K=1,2 ..., KP '；Enabling δ (B) is the laser point cloud density of cuboid B, calculates the laser point of cuboid B
Cloud density fluctuation rate:
Wherein:Respectively using B as the cuboid PED_ Ω in section at the middle and upper levels, under
Layer, left wall, the laser point cloud averag density of right wall；Respectively cuboid PED_ Ω at the middle and upper levels, lower layer
The laser point cloud density fluctuation rate of the cuboid B of i row jth column；Left wall in respectively cuboid PED_ Ω,
The laser point cloud density fluctuation rate of the cuboid B of right wall jth column kth layer；
Step5.2: judge cuboid PED_ Ω at the middle and upper levels, lower layer, left wall, the cuboid B in right wall whether be background image, and
Background is filtered:
IfThen judge the laser that the cuboid PED_ Ω cuboid B that the i-th row jth arranges at the middle and upper levels is included
Point cloud is background laser point cloud；
IfThen judge the laser that the cuboid B that lower layer's the i-th row jth arranges in cuboid PED_ Ω is included
Point cloud is background laser point cloud；
IfThe then laser point cloud that the cuboid B of left wall jth column kth layer is included in cuboid PED_ Ω
For background laser point cloud；
IfThe then laser point cloud that the cuboid B of right wall jth column kth layer is included in cuboid PED_ Ω
For background laser point cloud；
Wherein: λUP(T)、λDW(T)、λLF(T)、λRT(T) be respectively T judge in the period cuboid PED_ Ω at the middle and upper levels, lower layer,
Cuboid B background laser point cloud density fluctuation threshold limit value in left wall, right wall；
Step5.3: repeating Step5.1 to Step5.2, to length all in the upper layer cuboid PED_ Ω, lower layer, left wall, right wall
Cube B carries out background judgement, and rejects all background laser point clouds, forms new three-dimensional space matrix P ' (PEH_ Ω),
p′ijk∈P′(PED_Ω)；
Step6: the X of VEH_ Ω, Y-axis plane are divided into NC × NL grid, are WL × LV × H length in each grid
Cube E；Wherein: WL is the lane width in 3D laser radar sensor detection direction import direction；LV is the average length of vehicle；
H is the height of 3D laser radar sensor from the ground；E ∈ VEH_ Ω, EijIt is the cuboid in the i-th row jth lane for VEH_ Ω；Its
In: i=1,2 ..., NC；J=1,2 ..., NL；
Step6.1: the laser point cloud density δ (E) of the E of cuboid in VEH_ Ω is calculated
Wherein:For the sum of laser point cloud density all in E；For the volume of cuboid E；
Step6.2: judge vehicle in cuboid E there are situations:
(1) if δ (E) >=∈V, then judge in cuboid E with the presence of vehicle；
(2) if ∈bV≤ δ (E) < ∈V, cuboid E is split into the equal front and back two parts of volumeWithIfAndThen vehicle is present in the front of cuboid E, willWithMerge, label
For new cuboid E '；IfAndThen vehicle is present in the rear portion of cuboid E, willWithMerge, labeled as new cuboid E '；
Wherein:For the latter half of cuboid E adjacent previous cuboid E；For the adjacent the latter of cuboid E
The first half of cuboid E；∈VFor critical density existing for cuboid E vehicle；∈bVIt is occupied for cuboid E vehicle critical close
Degree；
Step6.3: the minimum adjoint point number of given vehicle is Min_VehPts, radius of neighbourhood R_Veh；Traverse cuboid E or
All laser point Li_Pt in E ' find out laser points NumPt (Li_Pt) in each laser point Li_Pt radius of neighbourhood R_Veh；
If NumPt (Li_Pt) >=Min_VehPts, by laser point Li_Pt labeled as the vehicle centroid in cuboid E or E '
VehCore_Pt；
Step6.4: repeating Step6.1 to Step6.3, according to the location information and quantity of vehicle centroid point, obtains present laser
The vehicle number VehNum and queue length VehQue of each entrance driveway in point cloud data frame VEH_ Ω；
Step7: the X of PED_ Ω, Y-axis plane are divided into NP × NT grid, are WP × PT × H length in each grid
Cube S；Wherein: WP is average longitudinal space distance needed for pedestrian's walking；PT is pedestrian's walking horizontal space distance；H is sharp
Height of the optical radar sensor from the inside；S ∈ PED_ Ω, SijIt is the cuboid S that the i-th row jth arranges in crossing for PED_ Ω；
Wherein: i=1,2 ..., NP；J=1,2 ..., NT；
Step7.1: the laser point cloud density δ (S) of the S of cuboid in PED_ Ω is calculated
Wherein:For the sum of laser point cloud density all in S；For the volume of cuboid S；
Step7.2: judge pedestrian in cuboid S there are situations:
(1) if δ (S) >=∈p, then judge in cuboid S with the presence of pedestrian；
(2) if ∈bp≤ δ (S) < ∈p, cuboid S is split into the equal front and back two parts of volumeWithOr left and right two
PartWithIfAndThen pedestrian is present in the front of cuboid S, will
WithMerge, labeled as new cuboid S '；IfAndThen vehicle is present in rectangular
The rear portion of body S, willWithMerge, labeled as new cuboid S '；IfAnd
Then pedestrian is present in the right side of cuboid S, willWithMerge, labeled as new cuboid S '；If
AndThen pedestrian is present in the left side of cuboid S, willWithMerge, labeled as new cuboid S '
Wherein:For the latter half of cuboid S adjacent previous cuboid S；It is long for the adjacent the latter of cuboid S
The first half of cube S；∈pFor critical density existing for cuboid S pedestrian；∈bpIt is occupied for cuboid S pedestrian critical close
Degree；
Step7.3: the minimum adjoint point number of given pedestrian is Min_PedPts, radius of neighbourhood R_Ped；Traverse cuboid S or
All laser point Li_Pt in S ' find out laser points NumPt (Li_Pt) in each laser point Li_Pt radius of neighbourhood R_Ped；
If NumPt (Li_Pt) >=Min_PedPts, by laser point Li_Pt labeled as pedestrian's mass center in cuboid S or S '
PedCore_Pt；
Step7.4: repeating Step7.1 to Step7.3, according to the location information and quantity of pedestrian's center of mass point, obtains present laser
Crosswalk and the pedestrian's number VPedNum and pedestrian position information of pedestrian's street crossing waiting area in point cloud data frame PED_ Ω
PedLoInfo；
Step8: carrying out the processing of Step2 to Step7 to the Data duplication for each frame that 3D laser radar sensor is sent,
The position of vehicle and pedestrian in each frame is tracked, obtain vehicle and pedestrian running track VedTrace and
PedTrace, by the change in location of vehicle and pedestrian, obtain vehicle and pedestrian speed of service information VehSpeedInfo and
PedSpeedInfo；
Step9: multicore laser point cloud micro treatment module will test vehicle in region, the quantity of pedestrian, position, speed, operation
Trace information sends traffic signals interaction coordination unit to by EMIF bus.
2. it is according to claim 1 it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit,
It is characterized in that:
Traffic signals interaction coordination unit is made of communication module, FPGA main control module, DSP safety monitoring module, PCB backboard,
Communication module, FPGA main control module, DSP signals-modulating module carry out data communication using EMIF bus, and in PCB backboard
On be laid out fixation；Communication module be responsible for be mounted in same intersection on other cantilevered lamp stands from perception interactive formula
Traffic-control unit carries out information exchange and shares；The traffic that FPGA main control module is provided according to laser radar detection unit
Parameter information is flowed, Signal phase is carried out to corresponding import direction, long green light time optimizes, and passes through communication module
Phase, phase sequence, long green light time are carried out from perception interactive formula traffic-control unit on other cantilevered lamp stands of intersection
Coordinated；DSP safety monitoring module carries out dynamic monitoring to the traffic flow of crossing, the safe condition of the stream of people and safety is pre-
It is alert, automatic intervene and quickly adjustment is carried out to the traffic signals under emergent traffic incident；Specific work steps is as follows:
Queuing traffic flow of the cycle T _ GAP to each entrance driveway of detection direction at a certain time interval of Step1:FPGA main control module
Amount is predicted:
Wherein: Vol (t+T_GAP), Vol (t), Vol (t-T_GAP) are respectively next predetermined period interval T_ of t moment
GAP, the current predictive period, upper predetermined period interval T_GAP crossing inlet road flow；Vel(t),Vel(t-T_
GAP) be respectively current predictive period of t moment, upper predetermined period interval T_GAP crossing inlet road vehicle it is average
Speed；α, β are respectively corrected parameter；
Step2:FPGA main control module estimates that each import lane queuing vehicle dissipates the required time:
Wherein: disT is lane queuing vehicle resolution time；μ is queuing vehicle start-up lost time；γ is queue clearance time complexity curve
Coefficient；It averagely dissipates speed for queuing vehicle；
Queuing vehicle resolution time needed for Step3:FPGA main control module determines each current direction in import lane:
DisT_ST=max (disT_ST1, disT_ST2..., disT_STn)
DisT_LT=max (disT_LT1, disT_LT2..., disT_LTm)
Wherein: disT_ST, disT_LT are respectively the current direction of import lane straight trip, turn left queuing vehicle needed for current direction
Resolution time；disT_ST1, disT_ST2..., disT_STn1st, 2 ... respectively in import lane, needed for n Through Lane
Queuing vehicle resolution time；disT_LT1, disT_LT2..., disT_LTm1st, 2 ... respectively in import lane, m item are left
Queuing vehicle resolution time needed for changing trains or buses；
Step4:FPGA main control module calculates the current direction queuing vehicle resolution time disT_ST of import lane straight trip and turns left logical
Time difference between line direction queuing vehicle resolution time disT_LT:
Δ disT=| disT_ST-disT_LT |
(1) if Δ disT≤ξ, FPGA main control module is by the straight trip right of way signal phase in import lane and left-hand rotation right of way signal phase
The same signal phase stage is merged into position, and the green time of phase is max (disT_ST, disT_LT)；
(2) if Δ disT > ξ, FPGA main control module obtains the current direction of opposite import lane straight trip and a left side by communication module
Turn queuing vehicle the resolution time disT_ST ' and disT_LT ' in current direction；
1. if | disT_ST-disT_ST ' |≤ξ, FPGA main control module pass through communication module and opposite FPGA main control module
Coordinate, the straight trip right of way signal phase of the straight trip right of way signal phase in import lane and opposite import lane is merged into same
Signal phase stage, the green time of phase are max (disT_ST, disT_ST ')；
2. if | disT_LT-disT_LT ' |≤ξ, FPGA main control module pass through communication module and opposite FPGA main control module
Coordinate, the left-hand rotation right of way signal phase of the left-hand rotation right of way signal phase in import lane and opposite import lane is merged into same
Signal phase stage, the green time of phase are max (disT_LT, disT_LT ')；
3. if | disT_ST-disT_ST ' |≤ξ and | disT_LT-disT_LT ' | > ξ, FPGA main control module by communication mould
Block and opposite FPGA main control module are coordinated:
The straight trip right of way signal phase of the straight trip right of way signal phase in import lane and opposite import lane is merged into same
Signal phase stage, the green time of phase are max (disT_ST, disT_ST ')；
If disT_LT > disT_LT ', and maxVOL_ST (t+T_GAP) > maxVOL_LT ' (t+T_GAP), then by import
The left-hand rotation right of way signal phase in lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are min (disT_LT, disT_LT ')；And increase a superposition phase rank in import lane
Section, allows the current direction of the straight trip in import direction and current direction of turning left is let pass simultaneously, and the green time in superposition phase stage is |
disT_LT-disT_LT'|；
If disT_LT > disT_LT ', and maxVOL_ST (t+T_GAP) < maxVOL_LT ' (t+T_GAP), then by import
The left-hand rotation right of way signal phase in lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are disT_LT；
If disT_LT < disT_LT ', and maxVOL_LT (t+T_GAP) > maxVOL_ST ' (t+T_GAP), then by import
The left-hand rotation right of way signal phase in lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are disT_LT '；
If disT_LT < disT_LT ', and maxVOL_LT (t+T_GAP) < maxVOL_ST ' (t+T_GAP), then by import
The left-hand rotation right of way signal phase in lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are min (disT_LT, disT_LT ')；And increase a superposition phase in opposite import lane
Stage, the current direction of the straight trip for allowing opposite import to let pass and current direction of turning left are let pass simultaneously, the green light in superposition phase stage
Time is | disT_LT-disT_LT ' |；
4. if | disT_ST-disT_ST ' | > ξ and | disT_LT-disT_LT ' |≤ξ, FPGA main control module by communication mould
Block and opposite FPGA main control module are coordinated:
The left-hand rotation right of way signal phase of the left-hand rotation right of way signal phase in import lane and opposite import lane is merged into same
Signal phase stage, the green time of phase are max (disT_LT, disT_LT ')；
If disT_ST > disT_ST ', and maxVOL_LT (t+T_GAP) > maxVOL_ST ' (t+T_GAP), then by import
The straight trip right of way signal phase in lane and the straight trip right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are min (disT_ST, disT_ST ')；And increase a superposition phase rank in import lane
Section, allows the current direction of the straight trip in import direction and current direction of turning left is let pass simultaneously, and the green time in superposition phase stage is |
disT_ST-disT_ST'|；
If disT_ST > disT_ST ', and maxVOL_LT (t+T_GAP) < maxVOL_ST ' (t+T_GAP), then by import
The straight trip right of way signal phase in lane and the straight trip right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are disT_ST；
If disT_ST < disT_ST ', and maxVOL_ST (t+T_GAP) > maxVOL_LT ' (t+T_GAP), then by import
The left-hand rotation right of way signal phase in lane and the left-hand rotation right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are disT_LT '；
If disT_ST < disT_ST ', and maxVOL_ST (t+T_GAP) < maxVOL_LT ' (t+T_GAP), then by import
The straight trip right of way signal phase in lane and the straight trip right of way signal phase in opposite import lane merge into the same signal phase rank
Section, the green time of phase are min (disT_ST, disT_ST ')；And increase a superposition phase in opposite import lane
Stage allows the current direction of the straight trip in import direction and current direction of turning left is let pass simultaneously, the green time in superposition phase stage
For | disT_ST-disT_ST ' |；
Wherein: ξ phase splits threshold limit value；MaxVOL_ST (t+T_GAP), maxVOL_ST ' (t+T_GAP) are respectively t
The maximum in current direction is kept straight in moment next predicting interval T_GAP import lane and opposite import lane is kept straight on current direction is straight
Runway flow；MaxVOL_LT (t+T_GAP), maxVOL_LT ' (t+T_GAP) are respectively the next predicting interval T_ of t moment
Turn left to pass through the maximum left turn lane flow in direction for the current direction of GAP import lane left-hand rotation and opposite import lane；
Step5:FPGA main control module is by communication module and intersection others FPGA main control module according to each FPGA master control mould
The long green light time of each current phase in each import direction that block is calculated, according to Robert Webster intersection delay calculation formula,
Using the smallest principle of intersection delay, that coordinates determining each signal phase executes sequence, i.e. phase phase sequence；
The operating condition of Step6:DSP safety monitoring module real-time monitoring vehicle and pedestrian:
Step6.1: during signals of vehicles green light closes to an end, DSP safety monitoring module real-time monitoring import direction will be sailed
Enter the vehicle of intersection, whether calculate current vehicle being capable of secure parking or safety intersection:
Wherein: X0It is capable of the minimum safe stopping distance of ramp to stop for vehicle；XCIt can speed up current maximum safety for vehicle
Distance；V0The running velocity of intersection will be driven into；σ is the average braking reflecting time of driver；α_It is averagely made for vehicle
Dynamic deceleration；α+It is averaged braking acceleration for vehicle；GreenT is remaining transit time；W is intersection width；L is average
Vehicle length；
Step6.2: if X0> XC, then vehicle can neither safe passing, can not secure parking, then DSP safety monitoring module with
FPGA main control module coordinate, extend vehicle traffic direction green time, can safety, to traffic signals drive control
Molding block sends DilemmaType1 director data packet；
Step6.3: if X0< XC, then DSP safety monitoring module and traffic signals drive control unit are coordinated, to vehicle operation side
To signal lamp flashing is carried out, prompts driver's ramp to stop or accelerate to pass through, sent to traffic signals drive control module
DilemmaType2 director data packet；
The running track of Step6.4:DSP safety monitoring module real-time monitoring crossing pedestrian and import direction vehicle, once
The running track of the running track and vehicle that detect people's row has the appearance of the case where conflict, then DSP safety monitoring module is to traffic
Signal drive control unit sends " dangerous, it is noted that safety！" safety alarm DangerInfo director data packet；
Step6.5: during signals of vehicles green light closes to an end, whether DSP safety monitoring module real-time monitoring crossing has
Pedestrian, once road edge crossing border detection to there is pedestrian's appearance, DSP safety monitoring module drives to traffic signals
Dynamic control unit transmission " bears with, please retract Accreditation Waiting Area！" safe early warning PedWarningType1 director data packet；
Step6.6: during signals of vehicles red light, pedestrian signal green light, whether DSP safety detection module real-time monitoring pedestrian goes
It walks on crossing, once detecting the track of pedestrian's walking not on crossing, DSP safety monitoring module is to traffic
" civilized traffic please walk zebra stripes to the transmission of signal drive control unit！" safe early warning PedWarningType2 director data
Packet；
Step7:FPGA main control module, DSP safety detection module pass through EMIF bus for traffic signal control scheme, including each letter
The green time of number phase, signal phase execute sequence and traffic safety alarm command sends traffic signals driving control to
Unit processed.
3. it is according to claim 1 it is a kind of based on 3D laser radar from perception interactive formula traffic-control unit,
It is characterized in that:
Traffic signals drive control unit by traffic signal display module, traffic signals cue module, traffic safety warning module,
The micro- aobvious screen of signal lamp group, LED, 6UVPX switching signal interface board composition, traffic signal display module, traffic signals cue module,
The micro- aobvious screen of traffic safety warning module, signal lamp group, LED is attached sum number by serial ports and 6U VPX switching signal interface board
According to communications；Traffic signal display module is responsible for the traffic signal control scheme for sending traffic signals coordination unit,
Drive and control opening the bright time, opening bright state, open bright pattern for signal lamp group；Traffic signals cue module is handed over according to traffic signals
The traffic signal control scheme that mutual coordination unit is sent, controls the information alert content of the micro- aobvious screen of LED, to the stream of people, wagon flow
Prevailing state, transit time carry out information alert and dynamic guiding；Traffic safety warning module is assisted according to traffic signals interaction
The traffic safety alarm command for adjusting unit to send carries out safe early warning to the stream of people of intersection, wagon flow；
Step1: traffic signal display module receives the traffic signal control scheme that traffic signals interaction coordination unit is sent,
The digital information conversion of traffic signal control scheme is opened into bright time, Qi Liang from analog signal, driving and control signal lamp group
Color, the sequence of Qi Liang, the transition sequence of different light color and interim form and the figure that shows of light color；
Step2: traffic signals cue module receives the traffic signal control scheme that traffic signals interaction coordination unit is sent,
Driving and the control micro- aobvious screen of LED, prompt the prevailing state of the stream of people, wagon flow, transit time, remaining time, direction of travel
And guidance；
Step3: traffic safety warning module receives the traffic safety alarm command that traffic signals interaction coordination unit is sent,
Safe early warning is carried out according to different signal instructions:
Step3.1: when traffic safety warning module receives DilemmaType1 director data packet, adapter tube traffic signal display
Control of the module to signal lamp group extends the long green light time in specified current direction according to DilemmaType1 command content, when prolonging
At the end of long-time, the control to signal lamp group is discharged, the control of signal lamp group is given back into traffic signal display module；
Step3.2: when traffic safety warning module receives DilemmaType2 director data packet, adapter tube traffic signal display
Control of the module to signal lamp group flashes the signal lamp in specified current direction according to DilemmaType2 command content
Control discharges the control to signal lamp group, the control of signal lamp group is given back traffic signals and is shown after flashing control
Show module；
Step3.3: when traffic safety warning module receives DangerInfo director data packet, adapter tube traffic signal display mould
Control of the block to signal lamp group starts blinking red lamp early warning to specified current direction, and lead to according to DangerInfo command content
It crosses voice and the micro- aobvious screen alarm of LED is " dangerous, it is noted that safety！"；
Step3.4: when traffic safety warning module receives PedWarningType1 director data packet, pass through voice and LED
It is micro- it is aobvious shield to pedestrian alarm " bear with, Accreditation Waiting Area please be retract！"；
Step3.5: when traffic safety warning module receives PedWarningType2 director data packet, pass through voice and LED
It is micro- it is aobvious shield to pedestrian alarm " civilized traffic please walk zebra stripes！".
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910046578.3A CN109559528B (en) | 2019-01-18 | 2019-01-18 | Self-perception interactive traffic signal control device based on 3D laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910046578.3A CN109559528B (en) | 2019-01-18 | 2019-01-18 | Self-perception interactive traffic signal control device based on 3D laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109559528A true CN109559528A (en) | 2019-04-02 |
| CN109559528B CN109559528B (en) | 2023-03-21 |
Family
ID=65873165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910046578.3A Active CN109559528B (en) | 2019-01-18 | 2019-01-18 | Self-perception interactive traffic signal control device based on 3D laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109559528B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110110696A (en) * | 2019-05-17 | 2019-08-09 | 百度在线网络技术（北京）有限公司 | Method and apparatus for handling information |
| CN110599782A (en) * | 2019-11-07 | 2019-12-20 | 山西省地震局 | Method for controlling duration of traffic lights according to population distribution thermodynamic diagrams |
| CN110599802A (en) * | 2019-08-16 | 2019-12-20 | 同济大学 | Pedestrian crossing early warning implementation method and early warning system |
| CN111477011A (en) * | 2020-04-08 | 2020-07-31 | 图达通智能科技(苏州)有限公司 | Detection device and detection method for road intersection early warning |
| CN112907989A (en) * | 2021-01-29 | 2021-06-04 | 安徽四创电子股份有限公司 | Traffic signal control method for detecting pedestrian road crossing based on video and radar |
| CN112921851A (en) * | 2021-02-01 | 2021-06-08 | 武汉理工大学 | Self-explanatory street crossing traffic safety facility for pedestrians in road |
| CN113112830A (en) * | 2021-04-08 | 2021-07-13 | 同济大学 | Signal control intersection emptying method and system based on laser radar and track prediction |
| WO2021208327A1 (en) * | 2020-04-17 | 2021-10-21 | 平安科技（深圳）有限公司 | Road optimization method, system and terminal, and computer-readable storage medium |
| CN114510788A (en) * | 2022-04-18 | 2022-05-17 | 北京中科慧眼科技有限公司 | Time threshold model construction method and system based on vehicle automatic braking system |
| CN114530039A (en) * | 2022-01-27 | 2022-05-24 | 浙江梧斯源通信科技股份有限公司 | Real-time detection device and method for pedestrian flow and vehicle flow at intersection |
| CN115410373A (en) * | 2022-11-01 | 2022-11-29 | 山东科技职业学院 | Radar positioning system based on road traffic |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302287A (en) * | 2013-06-18 | 2013-09-18 | 华北电力大学 | Iron-based amorphous powder for wear-resisting and corrosion-resisting coating and preparation method thereof |
| CN103711050A (en) * | 2013-12-31 | 2014-04-09 | 中交第二公路勘察设计研究院有限公司 | Laser radar road reconstruction and expansion exploratory survey design method |
| US20140166632A1 (en) * | 2012-12-06 | 2014-06-19 | Ultratech, Inc. | Dual-loop control for laser annealing of semiconductor wafers |
| CN104134216A (en) * | 2014-07-29 | 2014-11-05 | 武汉大学 | Laser point cloud auto-registration method and system based on 16-dimension feature description |
| CA2847121A1 (en) * | 2013-05-13 | 2014-11-13 | Oliver Nagy | Apparatus for measuring the position of a vehicle or a surface thereof |
| CN104966404A (en) * | 2015-07-23 | 2015-10-07 | 合肥革绿信息科技有限公司 | Single-point self-optimization signal control method and device based on array radars |
| CN105070074A (en) * | 2015-07-23 | 2015-11-18 | 合肥革绿信息科技有限公司 | Region self-optimization signal control method based on array radar and device |
| DE102014012364A1 (en) * | 2014-08-25 | 2016-02-25 | Microtech Gefell Gmbh | Inertia-free A / D converter for determining the density of gas and optical signal processing equipment |
| CN105513387A (en) * | 2016-01-30 | 2016-04-20 | 山东星志智能交通科技有限公司 | Pedestrian passing signal lamp capable of being intelligently controlled |
| CN105551270A (en) * | 2016-01-30 | 2016-05-04 | 山东星志智能交通科技有限公司 | Intelligent traffic signal control system |
| KR20160062880A (en) * | 2014-11-26 | 2016-06-03 | 휴앤에스(주) | road traffic information management system for g using camera and radar |
| CN105894826A (en) * | 2016-06-28 | 2016-08-24 | 侯舸 | Traffic flow density identifying device based on infrared thermal imaging |
| CN106530761A (en) * | 2016-12-21 | 2017-03-22 | 吉林大学 | Traffic signal controller based on fractal geometry |
| CN106772318A (en) * | 2016-11-24 | 2017-05-31 | 东台银信钢结构工程有限公司 | A kind of measuring method of steel construction inner laser radar scanning density |
| CN106846792A (en) * | 2017-04-05 | 2017-06-13 | 滁州学院 | Urban Traffic Peccancy intelligent early-warning system and its method |
| CN107123287A (en) * | 2017-06-27 | 2017-09-01 | 吉林大学 | A kind of traffic lights control integrated device based on Self-organizing Coordinated |
| US20170343695A1 (en) * | 2016-05-31 | 2017-11-30 | Lockheed Martin Corporation | Magneto-Optical Detecting Apparatus and Methods |
| CN207263924U (en) * | 2017-08-28 | 2018-04-20 | 国网甘肃省电力公司电力科学研究院 | A kind of improved power-line patrolling shaft tower modeling laser radar system |
| CN108417055A (en) * | 2018-03-22 | 2018-08-17 | 南京推推兔信息科技有限公司 | A kind of trunk roads synergistic signal machine control method based on radar detector |
| CN108629968A (en) * | 2018-06-26 | 2018-10-09 | 吉林大学 | A kind of pedestrian's street crossing safety control based on laser radar |
| CN208240196U (en) * | 2018-06-26 | 2018-12-14 | 吉林大学 | A kind of pedestrian's street crossing safety control based on laser radar |
| CN109147363A (en) * | 2018-09-10 | 2019-01-04 | 吉林大学 | Traffic intelligent guides system and bootstrap technique |
-
2019
- 2019-01-18 CN CN201910046578.3A patent/CN109559528B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140166632A1 (en) * | 2012-12-06 | 2014-06-19 | Ultratech, Inc. | Dual-loop control for laser annealing of semiconductor wafers |
| CA2847121A1 (en) * | 2013-05-13 | 2014-11-13 | Oliver Nagy | Apparatus for measuring the position of a vehicle or a surface thereof |
| CN103302287A (en) * | 2013-06-18 | 2013-09-18 | 华北电力大学 | Iron-based amorphous powder for wear-resisting and corrosion-resisting coating and preparation method thereof |
| CN103711050A (en) * | 2013-12-31 | 2014-04-09 | 中交第二公路勘察设计研究院有限公司 | Laser radar road reconstruction and expansion exploratory survey design method |
| CN104134216A (en) * | 2014-07-29 | 2014-11-05 | 武汉大学 | Laser point cloud auto-registration method and system based on 16-dimension feature description |
| DE102014012364A1 (en) * | 2014-08-25 | 2016-02-25 | Microtech Gefell Gmbh | Inertia-free A / D converter for determining the density of gas and optical signal processing equipment |
| KR20160062880A (en) * | 2014-11-26 | 2016-06-03 | 휴앤에스(주) | road traffic information management system for g using camera and radar |
| CN104966404A (en) * | 2015-07-23 | 2015-10-07 | 合肥革绿信息科技有限公司 | Single-point self-optimization signal control method and device based on array radars |
| CN105070074A (en) * | 2015-07-23 | 2015-11-18 | 合肥革绿信息科技有限公司 | Region self-optimization signal control method based on array radar and device |
| CN105551270A (en) * | 2016-01-30 | 2016-05-04 | 山东星志智能交通科技有限公司 | Intelligent traffic signal control system |
| CN105513387A (en) * | 2016-01-30 | 2016-04-20 | 山东星志智能交通科技有限公司 | Pedestrian passing signal lamp capable of being intelligently controlled |
| US20170343695A1 (en) * | 2016-05-31 | 2017-11-30 | Lockheed Martin Corporation | Magneto-Optical Detecting Apparatus and Methods |
| CN105894826A (en) * | 2016-06-28 | 2016-08-24 | 侯舸 | Traffic flow density identifying device based on infrared thermal imaging |
| CN106772318A (en) * | 2016-11-24 | 2017-05-31 | 东台银信钢结构工程有限公司 | A kind of measuring method of steel construction inner laser radar scanning density |
| CN106530761A (en) * | 2016-12-21 | 2017-03-22 | 吉林大学 | Traffic signal controller based on fractal geometry |
| CN106846792A (en) * | 2017-04-05 | 2017-06-13 | 滁州学院 | Urban Traffic Peccancy intelligent early-warning system and its method |
| CN107123287A (en) * | 2017-06-27 | 2017-09-01 | 吉林大学 | A kind of traffic lights control integrated device based on Self-organizing Coordinated |
| CN207263924U (en) * | 2017-08-28 | 2018-04-20 | 国网甘肃省电力公司电力科学研究院 | A kind of improved power-line patrolling shaft tower modeling laser radar system |
| CN108417055A (en) * | 2018-03-22 | 2018-08-17 | 南京推推兔信息科技有限公司 | A kind of trunk roads synergistic signal machine control method based on radar detector |
| CN108629968A (en) * | 2018-06-26 | 2018-10-09 | 吉林大学 | A kind of pedestrian's street crossing safety control based on laser radar |
| CN208240196U (en) * | 2018-06-26 | 2018-12-14 | 吉林大学 | A kind of pedestrian's street crossing safety control based on laser radar |
| CN109147363A (en) * | 2018-09-10 | 2019-01-04 | 吉林大学 | Traffic intelligent guides system and bootstrap technique |
Non-Patent Citations (2)
| Title |
|---|
| 林赐云: "考虑低排放低延误的交通信号优化方法" * |
| 王肖: "复杂环境下智能车辆动态目标三维感知方法研究" * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110110696A (en) * | 2019-05-17 | 2019-08-09 | 百度在线网络技术（北京）有限公司 | Method and apparatus for handling information |
| CN110599802A (en) * | 2019-08-16 | 2019-12-20 | 同济大学 | Pedestrian crossing early warning implementation method and early warning system |
| CN110599782B (en) * | 2019-11-07 | 2021-06-11 | 山西省地震局 | Method for controlling duration of traffic lights according to population distribution thermodynamic diagrams |
| CN110599782A (en) * | 2019-11-07 | 2019-12-20 | 山西省地震局 | Method for controlling duration of traffic lights according to population distribution thermodynamic diagrams |
| CN111477011A (en) * | 2020-04-08 | 2020-07-31 | 图达通智能科技(苏州)有限公司 | Detection device and detection method for road intersection early warning |
| WO2021208327A1 (en) * | 2020-04-17 | 2021-10-21 | 平安科技（深圳）有限公司 | Road optimization method, system and terminal, and computer-readable storage medium |
| CN112907989A (en) * | 2021-01-29 | 2021-06-04 | 安徽四创电子股份有限公司 | Traffic signal control method for detecting pedestrian road crossing based on video and radar |
| CN112921851A (en) * | 2021-02-01 | 2021-06-08 | 武汉理工大学 | Self-explanatory street crossing traffic safety facility for pedestrians in road |
| CN112921851B (en) * | 2021-02-01 | 2022-06-10 | 武汉理工大学 | Self-explanatory street crossing traffic safety facility for pedestrians in road |
| CN113112830A (en) * | 2021-04-08 | 2021-07-13 | 同济大学 | Signal control intersection emptying method and system based on laser radar and track prediction |
| CN113112830B (en) * | 2021-04-08 | 2021-12-17 | 同济大学 | Signal control intersection emptying method and system based on laser radar and track prediction |
| CN114530039A (en) * | 2022-01-27 | 2022-05-24 | 浙江梧斯源通信科技股份有限公司 | Real-time detection device and method for pedestrian flow and vehicle flow at intersection |
| CN114510788A (en) * | 2022-04-18 | 2022-05-17 | 北京中科慧眼科技有限公司 | Time threshold model construction method and system based on vehicle automatic braking system |
| CN115410373A (en) * | 2022-11-01 | 2022-11-29 | 山东科技职业学院 | Radar positioning system based on road traffic |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109559528B (en) | 2023-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109559528A (en) | It is a kind of based on 3D laser radar from perception interactive formula traffic-control unit | |
| US11550331B1 (en) | Detecting street parked vehicles | |
| CN108629968B (en) | Pedestrian crossing safety control device based on laser radar | |
| CN111223302B (en) | External coordinate real-time three-dimensional road condition auxiliary device for mobile carrier and system | |
| CN109584571A (en) | Intersection pre-warning and control method and system and sensing device used | |
| CN102496285B (en) | Method for determining red-light running of vehicles at intersection based on video detection and signal control system | |
| CN107146429A (en) | A kind of method for controlling traffic signal lights merged based on image and GPS information | |
| US11914041B2 (en) | Detection device and detection system | |
| CN109765571B (en) | Vehicle obstacle detection system and method | |
| CN112437501B (en) | Multi-sensor beyond-the-horizon ad hoc network method based on traffic semantics and game theory | |
| CN113345253B (en) | Traffic flow array and signal cooperative control system | |
| CN111785009A (en) | Pedestrian crossing active early warning method and system based on video detection | |
| US20210208282A1 (en) | Detection device and detection system | |
| WO2022213542A1 (en) | Method and system for clearing information-controlled intersection on basis of lidar and trajectory prediction | |
| CN108010349A (en) | A kind of ring road area intelligence lane-change system | |
| JP2019207654A (en) | Detection device and detection system | |
| CN114283617A (en) | Intersection anti-collision warning system based on pedestrian tracking algorithm | |
| CN100349176C (en) | Method and apparatus for improving the identification and/or re-identification of objects in image processing | |
| CN109615873A (en) | A kind of wisdom traffic pedestrian protection and its application method | |
| CN110794821B (en) | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle | |
| CN116543570A (en) | Traffic light intelligent control system based on PLC | |
| CN113126635B (en) | Unmanned aerial vehicle-based highway lighting method and system | |
| CN213092518U (en) | Pedestrian crossing active early warning system based on video detection | |
| CN114550447A (en) | System and method for obtaining intersection information to realize real-time traffic light scheduling | |
| CN110775054B (en) | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |